chrono::vehicle::m113::M113_TrackShoeDoublePin Class Reference

Description

Double-pin track shoe subsystem for the M113 vehicle.

#include <M113_TrackShoeDoublePin.h>

Inheritance diagram for chrono::vehicle::m113::M113_TrackShoeDoublePin:
Collaboration diagram for chrono::vehicle::m113::M113_TrackShoeDoublePin:

Public Member Functions

 M113_TrackShoeDoublePin (const std::string &name, DoublePinTrackShoeType topology)
 
virtual GuidePinType GetType () const override
 Return the type of track shoe (guiding pin). More...
 
virtual double GetHeight () const override
 Return the height of the track shoe.
 
virtual double GetShoeMass () const override
 Return the mass of the shoe body.
 
virtual const ChVector3dGetShoeInertia () const override
 Return the moments of inertia of the shoe body.
 
virtual double GetShoeLength () const override
 Return shoe length (distance between pins).
 
virtual double GetShoeWidth () const override
 Return shoe width (separation between connectors).
 
virtual ChVector3d GetLateralContactPoint () const override
 Return the location of the guiding pin center, expressed in the shoe reference frame.
 
virtual double GetConnectorMass () const override
 Return the mass of a connector body.
 
virtual const ChVector3dGetConnectorInertia () const override
 Return the moments of inertia of a connector body.
 
virtual double GetConnectorLength () const override
 Return the length of a connector body.
 
virtual double GetConnectorRadius () const override
 Return the radius of a connector body.
 
virtual double GetConnectorWidth () const override
 Return the width of a connector body (visualization only).
 
virtual utils::ChBodyGeometry GetGroundContactGeometry () const override
 Return contact geometry and material for interaction with terrain.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackShoeDoublePin
 ChTrackShoeDoublePin (const std::string &name, DoublePinTrackShoeType topology)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual double GetPitch () const override
 Return the pitch length of the track shoe. More...
 
virtual ChVector3d GetTension () const override
 Get track tension at this track shoe. More...
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector3d &location, const ChQuaternion<> &rotation) override
 Initialize this track shoe subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the track shoe subsystem.
 
virtual void RemoveVisualizationAssets () override final
 Remove visualization assets for the track shoe subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackShoeSegmented
std::shared_ptr< ChContactMaterialGetSprocketContactMaterial () const
 Get the contact material for the track shoe part interacting with the sprocket.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackShoe
size_t GetIndex () const
 Get the index of this track shoe within its containing track assembly.
 
std::shared_ptr< ChBodyGetShoeBody () const
 Get the shoe body.
 
void EnableCollision (bool val)
 Turn on/off collision flag for the shoe body.
 
void SetIndex (size_t index)
 Set the index of this track shoe within its containing track assembly.
 
- Public Member Functions inherited from chrono::vehicle::ChPart
const std::string & GetName () const
 Get the name identifier for this subsystem.
 
void SetName (const std::string &name)
 Set the name identifier for this subsystem.
 
bool IsInitialized () const
 Return flag indicating whether or not the part is fully constructed.
 
double GetMass () const
 Get the subsystem mass. More...
 
const ChFrameGetCOMFrame () const
 Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current subsystem inertia (relative to the subsystem COM frame). More...
 
const ChFrameGetTransform () const
 Get the current subsystem position relative to the global frame. More...
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
 
virtual void SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 

Additional Inherited Members

- Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33 TransformInertiaMatrix (const ChVector3d &moments, const ChVector3d &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
 Utility function for transforming inertia tensors between centroidal frames. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackShoeDoublePin
virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector3d &loc_shoe, const ChQuaternion<> &rot_shoe, const ChVector3d &loc_connector_L, const ChVector3d &loc_connector_R, const ChQuaternion<> &rot_connector)
 Initialize this two-connector double-pin track shoe system. More...
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const override
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const override
 Output data for this subsystem's component list to the specified database.
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackShoeSegmented
 ChTrackShoeSegmented (const std::string &name)
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackShoe
 ChTrackShoe (const std::string &name)
 Construct a track shoe subsystem with given name.
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name.
 
void AddMass (double &mass)
 Add this subsystem's mass. More...
 
void AddInertiaProperties (ChVector3d &com, ChMatrix33<> &inertia)
 Add this subsystem's inertia properties. More...
 
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 
void ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies) const
 Export the list of bodies to the specified JSON document.
 
void ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts) const
 Export the list of shafts to the specified JSON document.
 
void ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints) const
 Export the list of joints to the specified JSON document.
 
void ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples) const
 Export the list of shaft couples to the specified JSON document.
 
void ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers) const
 Export the list of markers to the specified JSON document.
 
void ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs) const
 Export the list of translational springs to the specified JSON document.
 
void ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs) const
 Export the list of rotational springs to the specified JSON document.
 
void ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads) const
 Export the list of body-body loads to the specified JSON document.
 
- Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item)
 Erase all visual shapes from the visual model associated with the specified physics item (if any).
 
static void RemoveVisualizationAsset (std::shared_ptr< ChPhysicsItem > item, std::shared_ptr< ChVisualShape > shape)
 Erase the given shape from the visual model associated with the specified physics item (if any).
 
- Protected Attributes inherited from chrono::vehicle::ChTrackShoeDoublePin
DoublePinTrackShoeType m_topology
 topology of the track shoe (one or two connectors)
 
std::shared_ptr< ChBodym_connector_L
 left connector body
 
std::shared_ptr< ChBodym_connector_R
 right connector body
 
std::shared_ptr< ChVehicleJointm_joint_L
 shoe - left connector joint
 
std::shared_ptr< ChVehicleJointm_joint_R
 shoe - right connector joint
 
std::shared_ptr< ChLinkRSDAm_rsda_L
 optional RSDA on left revolute
 
std::shared_ptr< ChLinkRSDAm_rsda_R
 optional RSDA on right revolute
 
std::shared_ptr< ChVehicleJointm_connection_joint_L
 connection to neighboring track shoe
 
std::shared_ptr< ChVehicleJointm_connection_joint_R
 connection to neighboring track shoe
 
std::shared_ptr< ChLinkRSDAm_connection_rsda_L
 optional RSDA on connection
 
std::shared_ptr< ChLinkRSDAm_connection_rsda_R
 optional RSDA on connection
 
- Protected Attributes inherited from chrono::vehicle::ChTrackShoeSegmented
utils::ChBodyGeometry m_geometry
 collection of visualization and collision shapes
 
ChContactMaterialData m_shoe_sprk_minfo
 data for contact material for shoe shape contacting sprocket
 
- Protected Attributes inherited from chrono::vehicle::ChTrackShoe
size_t m_index
 index of this track shoe within its containing track assembly
 
std::shared_ptr< ChBodym_shoe
 handle to the shoe body
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
 
bool m_initialized
 specifies whether ot not the part is fully constructed
 
bool m_output
 specifies whether or not output is generated for this subsystem
 
std::shared_ptr< ChPartm_parent
 parent subsystem (empty if parent is vehicle)
 
double m_mass
 subsystem mass
 
ChMatrix33 m_inertia
 inertia tensor (relative to subsystem COM)
 
ChFrame m_com
 COM frame (relative to subsystem reference frame)
 
ChFrame m_xform
 subsystem frame expressed in the global frame
 

Member Function Documentation

◆ GetType()

virtual GuidePinType chrono::vehicle::m113::M113_TrackShoeDoublePin::GetType ( ) const
inlineoverridevirtual

Return the type of track shoe (guiding pin).

A derived class must specify the type of track shoe (which must be consistent with the idler and road wheels in the containing track assembly).

Implements chrono::vehicle::ChTrackShoe.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/track_shoe/M113_TrackShoeDoublePin.h
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/track_shoe/M113_TrackShoeDoublePin.cpp